Automatic transmission in emergency function

Have this phenomenon in my vehicle for over 10 years. (And I'm almost used to it) Since my wife is driving the vehicle (because you don't sell a V8 anymore) and I only discovered your great forum now so finally to the error description:
Sporadically (can occur 2 times every week or only after 1 month) the automatic transmission program goes directly when starting into a kind of emergency program, all speed indicators light up simultaneously, the transmission switches only very slowly and hesitantly, the vehicle becomes very sluggish.
Errors can usually be eliminated by switching off the ignition (in 80% of cases); then usually occurs 1 to 2 times when starting up (every time ignition again off) then the error is usually gone. In the meantime, I have found that it is usually better if the vehicle rolls still slowly on N to set off ignition, again on and then again on D, so actually no error repetitions come about.
Does anyone know this mistake?? When I had the vehicle new, no Audi workshop could help me at the time, whose tip was just to change the component after the other until the error was gone.